A Robust Adaptive Nonlinear Control Design

An adaptive control design procedure for a class of nonlinear systems with both parametric uncertainty and unknown nonlinearities is presented. The unknown nonlinearities lie within some "bounding functions" which are assumed to be partially known. The key assumption is that the uncertain...

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Bibliographic Details
Published inAmerican Control Conference, 1993 pp. 1365 - 1369
Main Authors Polycarpou, Marios M., Ioannou, Petros A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.1993
Subjects
Adaptive control
Control design
Control systems
Design engineering
Nonlinear control systems
Nonlinear systems
Programmable control
Robust control
Uncertain systems
Uncertainty
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ISBN0780308603
9780780308602
DOI10.23919/ACC.1993.4793094

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Summary:An adaptive control design procedure for a class of nonlinear systems with both parametric uncertainty and unknown nonlinearities is presented. The unknown nonlinearities lie within some "bounding functions" which are assumed to be partially known. The key assumption is that the uncertain terms satisfy a "triangularity condition." As illustrated by examples, the proposed design procedure expands the class of nonlinear systems for which global adaptive stabilization methods can be applied. The overall adaptive scheme is shown to guarantee global uniform ultimate boundedness.
ISBN:0780308603
9780780308602
DOI:10.23919/ACC.1993.4793094